JPH0285477A - Vibration suppressing method - Google Patents

Abstract

PURPOSE:To improve the vibration suppressing effect by previously detecting the earth moving acceleration speed of a ground and controlling the vibration suppressing force of an actuator on the basis of the earth moving acceleration speed. CONSTITUTION:When a detection signal supplied from the first sensor 10 is inputted by a control means 13, the vibration suppressing force of an actuator 9 is feed/forward-controlled on the basis of the signal, and when a detection signal is inputted from the second sensor 11, the vibration suppressing force of the actuator 9 is feedback-controlled on the basis of the signal. The vibration suppressing force of the above-described actuator is controlled by the equation P=my'' (p: vibration suppressing force of actuator, m: mass which is characteristic for the vibration system including structure, y'': earth moving acceleration speed).

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a method for damping a long-period structure or a supported floor using a damping force applied from an actuator. Detect the ground motion acceleration, or detect the force actually applied to the structure due to the earthquake input and the damping force from the actuator, and the response amount of the structure based on it, and based on these detected quantities. The present invention relates to a vibration damping method in which an actuator is controlled by

(Prior Art) Various vibration damping methods have been devised for regulating the shaking of structures due to earthquake motions and the like. There is a known method of suppressing the vibration of a structure by using the damping force of a power source such as an actuator, and a general application example of this method is shown in Figure 8, which suppresses the vibration inherent in a structure. An actuator a is installed at the top of the structure or an intermediate floor, which is the antinode of the mode, and is configured to perform vibration damping control based on the detection signal from the sensor C at that position.

This actuator a is installed between a fixed block d fixed to the structure and an additional vibrating body e, and acts as a reaction force on the additional vibrating body e, which swings due to inertia due to the shaking of the structure. It is designed to add damping force. Such a configuration is preferable because the damping force that should be input to the structure is relatively small, but on the other hand, it is necessary that the structure itself has a long periodicity, such as because the structure is a high-rise structure. At the same time, there is also the drawback that a sufficient vibration suppression effect cannot be obtained. In addition, since a vibration damping mechanism is installed inside the structure,
It also reduces the total floor area.

Taking these circumstances into consideration, we have made it possible to install actuators at locations other than the tops of structures and intermediate floors, and we have also made it possible to install actuators in locations other than the tops of structures and intermediate floors, and also to accommodate medium- to low-rise structures of 5 to 20 floors, which usually do not have long periodicity. In order to make the structure subject to vibration damping control, the structure is supported with vibration isolation through long-period means such as an isolator made of laminated rubber on the ground or a sliding support material made of rollers, etc. Seismic isolation structures have been developed. In this vibration-isolated structure, the antinode of the vibration mode unique to the structure can be obtained in the lower part of the structure by means of lengthening the period which is inserted directly under the structure, and therefore the middle and low-rise structures can also be lengthened. It is possible to periodize the structure and provide an actuator between the structure and the external ground at this lower level position (Proceedings of the Architectural Institute of Japan, Vol. 1).
No. 03 (1966 10J'l) p, 118, etc.).

(Problem to be Solved by the Invention) By the way, in order to exert a preferable vibration allocation effect on the above-mentioned vibration isolation structure, it is important to appropriately control the vibration damping force generated by the actuator. It is desired to devise an optimal control method. It is also conceivable to apply the vibration isolation structure described above to a specific floor structure within a structure to allocate the vibration, and control of the actuator in that case is also important.

An object of the present invention is to provide a suitable vibration damping control method when damping a vibration isolation structure having a long periodicity using a damping force applied from an actuator.

(Means and Effects for Solving the Problems) The present invention provides a method for damping the ground motion of the ground when damping a structure that is vibration-isolated and supported on the ground via a long period lengthening means with a damping force generated by an actuator. Acceleration is detected in advance, and the damping force of the actuator is controlled in feedforward according to the following formula based on ground motion acceleration.

P=mi7 P: Vibration damping force of the actuator m: Mass inherent to the vibration system including the structure D: Ground acceleration When damping with the damping force generated by the actuator, the force actually applied to the structure due to the earthquake input and the action of the damping force from the actuator and the response amount of the structure based on it are detected, and based on these detected values, The damping force of the actuator is controlled by the following formula.

(Formula %Formula %) P: Damping force of actuator F: Force actually applied to the structure m: Mass specific to the vibration system including the structure C: Damping coefficient specific to the vibration system including the structure = structure Rigidity inherent in the vibration system including: Response speed of the structure to the ground X: Response speed of the structure to the ground When damping the supported floor, which is vibration-isolated and supported on a vibrating structural floor via a long-period means, with the damping force generated by the actuator, the response acceleration of the structural floor is detected in advance, and the response acceleration is calculated using the following formula. The damping force of the actuator is controlled in a feedforward manner.

Equation P: Vibration damping force of the actuator m: Mass inherent to the vibration system including the supported floor y: Response acceleration of the structural floor Furthermore, the present invention applies long-period When damping a supported floor supported with vibration isolation through a damping means with a damping force generated by an actuator, the force actually applied to the supported floor due to the earthquake input and the action of the damping force from the actuator. and the response amount of the supported floor based on the detected values, and based on these detected values, the damping force of the actuator is feedback-controlled by the following formula.

(Formula %Formula %) P, Damping force of actuator F: Force actually applied to the supported floor m: Mass specific to the vibration system including the supported floor C: Damping coefficient specific to the vibration system including the supported floor : Specific stiffness of the vibration system including the supported floor < : Response acceleration of the supported floor to the structural floor X : Response speed of the supported floor to the structural floor X : Response displacement of the supported floor to the structural floor By controlling the damping force of the actuator, damping control of the structure or the supported floor is performed.

(Example) Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The present invention has a sensor that detects disturbances such as earthquake motion or vibrations of the structure itself, uses the signal as a control signal for vibration damping, and applies vibration damping force from the outside to provide long-term vibration isolation support. The present invention provides a vibration damping method that actively reduces the shaking caused by earthquakes, etc., of built-in structures. FIG. 1 shows the concept of a device adopted to implement the vibration damping method of the present invention, and this device mainly includes a measurement system (sensor) 1 that detects ground motion or shaking of structures. , a control system (control means) 2 that processes the measurement values measured by the measurement system 1 as data, and a power drive system (actuator) 4 that applies a damping force to the structure 3 according to a control signal from the control system 2. It consists of

To explain a specific example of the structure when damping the structure 3, as shown in FIG. A structure 3 is constructed, and the period of this structure 3 is lengthened by the lengthening means 7. In this embodiment, as the period lengthening means 7, a plurality of laminated rubbers having an appropriate height and arranged at intervals within the recess 5 are illustrated. Note that the period lengthening means 7 is not limited to laminated rubber, but may also be a sliding support material, a bearing, a soft story, a magnetic levitation means, or the like. In addition, in this embodiment, the structure 3
A damper 8 is disposed in parallel with the period lengthening means 7 between the ground 6 and the ground 6, and this damper 8 can provide a considerable vibration damping effect.

Between the structure 3 configured in this way and the ground 6, there is an actuator 9 such as a hydraulic cylinder as a power drive system 4 that is driven to expand and contract in the direction of ground motion during an earthquake and inputs a damping force to the structure 3. is provided. Specifically, the actuator 9 is provided approximately horizontally along the lateral shaking direction of the earthquake between the vertical wall 5a of the four parts 5 and the lower part of the structure 3 facing the vertical wall 5a. Also, this actuator 9
are arranged around the structure 3 at intervals so as to be able to cope with earthquakes of various directions.

On the other hand, the measurement system 1 includes a first sensor 10 on the ground 6 side that detects ground motion (ground motion acceleration of the ground) during an earthquake in advance.
is installed, and a second method that detects the force actually applied to the structure 3 due to earthquake input and the action of damping force from the actuator 9 and the response amount of the structure 3 based on the force. In some cases, a sensor 11 is installed.

In particular, when the first sensor 10 is installed, the detected detection signal is used for feedforward control, which will be described later. On the other hand, when the second sensor 11 is installed, the detected detection signal is used for feedback control to be described later. A control system or control means 13 such as a computer is connected to these sensors 10, 11 via an amplifier 12 for amplifying the detection signal. This control means 13 is connected to the actuator 9 and each sensor 1
It has a function of controlling the damping force of the actuator 9 according to the detection signal from 0°11. Specifically, when a detection signal is input from the first sensor 10, the control means 13 performs feedforward control of the damping force of the actuator 9 based on the signal; When the detection signal is input manually, the damping force of the actuator 9 is feedback-controlled based on the signal. 4 and 5 respectively show the circuit configurations of a feedforward control method and a feedback control method corresponding to the vibration damping method of the present invention. Vibration is detected in advance by a first sensor ] 0 and inputted to the control means 13 , and the actuator 9 is actuated to apply this damping force to the structure 3 . This control is predictive control that incorporates the vibration characteristics of the structure 3, which is the damping target, into the control circuit. On the other hand, in the feedback method, the second sensor 11 detects the response of the structure 3 as a result of damping force being applied to the earthquake input, and the detected value is returned to the control means 13 to control the next actuator 9 operation. There is no need to accurately incorporate the vibration characteristics of the structure 3 into the control circuit in advance, and the nonlinearity of the structure 3 can also be followed. It also functions effectively when an excitation force is applied above the structure 3, such as in the wind. Note that the amplifier 12 and the control means 1
Even if the installation position of 3 is inside the structure 3 as shown in the figure,
It may be on the ground 6 side.

Next, a specific example of a configuration in which vibration is damped by applying the above-described vibration isolation structure to a specific floor structure within the structure 3 will be described. As shown in FIG. 3, on the structural floor 14, which constitutes the floor portion that partitions each floor of the structure 3 and which vibrates together with the structure 3 during an earthquake, a supported floor 15 This supported bed 15 is configured to have a long period by the period lengthening means 7. In this embodiment, the period lengthening means 7
, a plurality of laminated rubbers having an appropriate height and disposed at intervals on the structural floor 14 are illustrated. Precision equipment 16, such as a computer, is mounted on this supported floor 15, which is not affected by vibrations.

An actuator 9 is provided between the supported floor 15 and the structure 3 configured in this manner as a power drive system 4 that is driven to expand and contract in the direction of ground motion during an earthquake and inputs a damping force to the supported floor 15. It will be done.

Specifically, the actuator 9 acts on the vertical wall 3a of the structure 3.
and the end face 15a of the supported floor 15 facing oppositely thereto, provided substantially horizontally along the lateral shaking direction of the earthquake. Further, a plurality of actuators 9 are arranged at intervals around the supported floor 15 so as to be able to respond to earthquakes of various directions.

On the other hand, as the measurement system 1, there is a case in which the first sensor 10 is installed on the structural floor 14 on which the supported floor 15 is installed, and a case in which the first sensor 10 for detecting vibrations during an earthquake (response acceleration of the structural floor 14) is installed in advance; The supported floor 1 in the object 3 is affected by the earthquake input and the damping force from the actuator 9.
The force actually applied to 5 and the supported floor 1 based on it
In some cases, a second sensor 11 that detects the response amount of 5 is installed. These sensors 10 and 11 are used for the first sensor 10 for feedforward control and the second sensor 11 for feedback control, as in the case of damping the entire structure 3 described above.

A control means 13 such as a control system or a computer is connected to these sensors 10 and 11 via an amplifier 2 for amplifying the detection signal, and an actuator 9 is connected to the control means 13. Each sensor 1
The damping force of the actuator 9 is controlled according to the detection signals from 0 and 11. Note that the amplifier 12 and the control means 13 may be installed in the structure 3 or on the ground 6 side, as described above.

Next, a vibration damping control method will be described using an example of damping the entire structure 3. This also applies to the supported floor 15.

The basic vibration equation for suppressing the shaking of the structure 3 due to ground motion during an earthquake by applying the damping force of the actuator 9 to the structure 3 supported by the long period lengthening means 7 is as follows. is expressed in

m father + c X+ k x = -m 3; + P
・= (1) m: Mass specific to the vibration system including structure 3 C: Damping coefficient specific to the vibration system including structure 3: Structure 3
Rigidity inherent in the vibration system including: Response speed of the structure 3 to the ground 6 X: Response speed of the structure 3 to the ground 6 Vibration force This equation (1) describes the vibration state of the structure 3 with respect to the ground 6. And it was expressed like this (1
) formula, the left side represents the vibration characteristics in the relative system of the structure 3 mentioned above (the relative relationship between the ground 6 and the structure 3), and the right side represents the vibration of the ground 6 (ground acceleration) and the damping force of the actuator 9. P
The contents of external forces include As can be understood from the display on the right side, in damping the structure 3, the actuator 9 may be controlled in relation to the ground motion, and this is a control formula for the feedforward control method described above. And the content on the right side, that is, the external force term, is 0
Then, the left side becomes 0, and the relative response of the structure 3 in relation to the ground 6 becomes 0. In other words, as shown in FIG. moves together with the ground 6, resulting in a damping effect in which there is no relative displacement with respect to the ground 6, or the relative displacement can be reduced. In other words, in the graph showing the relationship between the transmissibility and the vibration frequency shown in FIG.
Unlike A), it is possible to obtain a damping effect with a transmissibility of 1 for any frequency component of an earthquake (in the figure, B
).

Therefore, when the right side of equation (1) is set as 0 and the equation is rearranged using the damping force P of the actuator 9, it is expressed as follows.

P=mi (2) According to this control formula (2), the structure 3 is not affected by the earthquake, that is, vibration damping control is executed to cancel the earthquake input itself. According to such a damping control method, the response amount of the structure 3 to the relative system becomes 0, so the structure 3 becomes a rigid body integrated with the ground 6 and moves in exactly the same way as the ground motion. , the acceleration amplification of the structure 3 due to ground motion is cut, and damage to the structure 3 can be prevented.

The above explanation relates to the allocation of the structure 3, but in the case of the supported floor 15, m in the above equation (2) is the mass specific to the vibration system including the supported floor 15, and the father is the structural floor. 14 response acceleration.

On the other hand, when considering feedback control that performs control based on the amount of response of the structure 3, this control method calculates the increment of the damping force that should be applied afterwards to the damping force that the actuator 9 is currently applying to the structure 3. It is controlled based on the response amount of structure 3, and ultimately the response amount of structure 3 is set to 0.
In other words, the left side of equation (1) above is converged to O. The amount of response currently detected in structure 3 is the result of inputting the damping force as described in (1) and (2) above.
From the formula, it can be expressed as follows.

-(m certain + C large + kx) ... (3) If the damping force of the actuator 9 is added so that the difference between this response amount and the force actually applied to the structure 3 at present becomes O, then the above-mentioned The same damping effect as in feedforward control can be obtained.

This can be expressed as a formula as follows.

P=F-(m*+cM+kx) +・+ (4) P:
Damping force F of actuator 9: Force m actually applied to structure 3: Mass C specific to the vibration system including structure 3: Damping coefficient specific to the vibration system including structure 3: Structure 3
The inherent stiffness of the vibration system including: Response acceleration of structure 3 to the ground X: Response speed of structure 3 to the ground X: Response displacement of structure 3 to the ground The control equation (4) expressed in this way is However, by employing this in the feedback control and controlling the required damping force P to be as close to 0 as possible, it is possible to obtain the same damping effect as in the case of the feedforward control described above.

The above explanation relates to vibration damping of the structure 3, but in the case of the supported floor 15, each control value in the above equation (4) may be handled as follows.

P: Damping force of actuator 9 F: Force actually applied to the supported floor 15 m: Mass specific to the vibration system including the supported floor 15 C: Damping coefficient specific to the vibration system including the supported floor 15: Specific rigidity of the vibration system including the supported floor 15: Response acceleration of the supported floor 15 to the static system ■
: Response acceleration of the supported floor 15 to the static system ■ : Response displacement of the supported floor 15 to the static system As explained above,
When damping the vibration isolation structure 3 having a long periodicity or a specific floor structure (supported floor 15) within the structure 3 with the damping force P applied from the actuator 9, the newly derived above (2) ), by controlling the damping force P of the actuator 9 using equation (4) as a control function, the structure 3 is not affected by the earthquake, that is, it is possible to achieve vibration damping control that cancels the earthquake force itself. According to such a damping control method, the response amount of the structure 3 to the relative system becomes 0, so the structure 3 becomes a rigid body integrated with the ground 6 and moves in exactly the same way as the ground motion, and the ground motion An excellent distribution effect can be obtained in that the acceleration amplification of the structure 3 relative to the structure 3 is cut and damage to the structure 3 is prevented.

(Effects of the Invention) In summary, according to the vibration damping method according to the present invention, a structure that is vibration-isolated supported on the ground via a long period lengthening means, or a structure that constitutes a floor part of a structure and When damping a supported floor that is vibration-isolated and supported on a vibrating structural floor via a long period lengthening means with a damping force generated by an actuator, the damping force of the actuator is controlled using a newly derived control function. By performing this, it is possible to achieve vibration damping control in which the structure is not affected by earthquakes, that is, to cancel the earthquake input itself. According to this vibration damping control method, the amount of response of the structure to the relative system can be achieved. becomes 0, so the structure becomes a rigid body integrated with the ground and moves in exactly the same way as the ground motion, which reduces the amplification of the structure's acceleration in response to ground motion, resulting in an excellent vibration damping effect that prevents damage to the structure. can be obtained.

[Brief explanation of drawings]

Figure 1 is a schematic configuration diagram of a device adopted to carry out the vibration damping method of the present invention, Figure 2 is a specific configuration diagram when damping a structure, and Figure 3 is a diagram of the vibration isolation structure installed inside the structure. 4 and 5 are circuit diagrams of a feedforward control method and a feedback control method corresponding to the vibration damping method of the present invention, respectively. , FIG. 6 is a schematic diagram illustrating the vibration damping effect of a structure against earthquakes, FIG. 7 is a graph when the vibration damping method of the present invention is adopted, and FIG. 8 is a configuration diagram showing a conventional vibration allocation mechanism. . 3... Structure 6... Ground 7... Long cycle lengthening means 9... Actuator 14... Structural floor 15... Supported method patent applicant
Osamu Obayashi Co., Ltd.
Patent attorney - Ken Iro
Patent Attorney Masaru Matsumoto 24
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Claims (4)

[Claims] (1) When damping a structure that is supported on the ground with vibration isolation via a long-period means, the ground motion acceleration of the ground is detected in advance and the following formula is used based on the ground motion acceleration. A vibration damping method characterized in that the vibration damping force of the actuator is subjected to feedforward control. Formula P=m ■ P: Actuator damping force m: Mass inherent to the vibration system including the structure ■: Ground acceleration (2) When damping the vibration of a structure supported on the ground with vibration isolation via a long-period means, using the damping force generated by the actuator, the structure is affected by the earthquake input and the damping force from the actuator A vibration damping method characterized in that the force actually applied to an object and the response amount of the structure based on the force are detected, and the vibration damping force of the actuator is feedback-controlled using the following formula based on these detected values. . Formula P=F-(m■+c■+kx) P: Damping force of actuator F: Force actually applied to the structure m: Mass specific to the vibration system including the structure c: Specific to the vibration system including the structure Damping coefficient k: Stiffness inherent to the vibration system including the structure ■: Response acceleration of the structure to the ground ■: Response speed of the structure to the ground x: Response displacement of the structure to the ground (3) When damping the supported floor, which is vibration-isolated and supported via a long-period means on a structural floor that constitutes the floor portion of a structure and vibrates together with the structure, using the damping force generated by the actuator, A vibration damping method characterized in that the response acceleration of the structural floor is detected in advance, and the damping force of the actuator is feedforward controlled using the response acceleration of the structural floor according to the following equation. Formula P=m P: Damping force of actuator m: Mass inherent to the vibration system including the supported floor ■: Response acceleration of the structural floor (4) When damping the supported floor, which is vibration-isolated and supported via a long-period means on a structural floor that constitutes the floor portion of a structure and vibrates together with the structure, using the damping force generated by the actuator, The force actually applied to the supported floor due to the earthquake input and the action of the damping force from the actuator and the response amount of the supported floor based on it are detected, and based on these detected values, the control of the actuator is calculated using the following formula. A vibration damping method characterized by feedback control of vibration force. Formula P=F-(m■+c■+kx) P: Damping force of actuator F: Force actually applied to the supported floor m: Mass specific to the vibration system including the supported floor c: Including the supported floor Damping coefficient specific to the vibration system k: Stiffness specific to the vibration system including the supported floor ■: Response acceleration of the supported floor to the structural floor ■: Response speed of the supported floor to the structural floor x: Response of the supported floor to the structural floor displacement